ACCMDManager.cs
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using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;
namespace ACServoDriveTest
{
public class ACCMDManager
{
public static string ServerOn_Addr = "0060";
public static string STB_Addr = "0120";
public static string Stop_Addr = "0124";
public static string SDStop_Addr = "0123";
public static string Clear_Alarm_Addr = "0061";
/// <summary>
/// 目标位置=600B
/// </summary>
public static string TargetPostion = "600B";
/// <summary>
/// 实际位置=600F
/// </summary>
public static string ActualPosition = "600F";
/// <summary>
/// BUSY状态=0140
public static string BUSYStatus = "0140";
/// <summary>
/// HOME-CMP=0141
/// </summary>
public static string HOME_CMP_Status = "0141";
/// <summary>
/// 报警状态=00A1
/// </summary>
public static string Alarm_Status = "00A1";
/// <summary>
/// 指定BlockNo=4414
/// </summary>
public static string BlockNo = "4414";
/// <summary>
/// 读线圈01
/// </summary>
public static byte CMD_ReadCoil= 0x01;
/// <summary>
/// 写线圈 05
/// </summary>
public static byte CMD_WriteCoil = 0x05;
/// <summary>
/// 读寄存器03
/// </summary>
public static byte CMD_ReadRegisters = 0x03;
/// <summary>
/// 写寄存器06
/// </summary>
public static byte CMD_WriteRegisters = 0x06;
/// <summary>
/// 写多个线圈 0f
/// </summary>
public static byte CMD_WriteMCoil = 0x0F;
/// <summary>
/// 写多个寄存器10
/// </summary>
public static byte CMD_WriteMRegisters = 0x10;
public static byte[] buildCheckData(byte[] sendData, int length)
{
ushort pChecksum = 0;
SerialBean.CalculateCRC(sendData, length, out pChecksum);
string checkStr = Convert.ToString(pChecksum, 16);
byte[] checkByte = SerialBean.StringToByte(checkStr);
if (checkByte.Length == 1)
{
sendData[length] = checkByte[0];
sendData[length + 1] = 0x00;
}
else
{
sendData[length + 1] = checkByte[0];
sendData[length] = checkByte[1];
}
return sendData;
}
public static byte[] GetWriteData(int slvAddr, byte cmd, string addr, string dataValue, int length)
{
// （ 2） 读取寄存器（ 03h）
if (cmd.Equals(CMD_ReadRegisters))
{
return Get03WriteData(slvAddr, addr,length);
}
else if (cmd.Equals(CMD_WriteRegisters))
{
// （ 4） 写入寄存器（ 06h）
return Get06WriteData(slvAddr, addr, dataValue);
}
else if (cmd.Equals(CMD_WriteCoil))
{
return Get05WriteData(slvAddr, addr, dataValue);
}
else if (cmd.Equals(CMD_ReadCoil))
{
return Get01WriteData(slvAddr, addr, length);
}
return null;
}
private static byte[] Get05WriteData(int slvAddr, string addr, string dataValue)
{
byte[] sendData = new byte[8];
sendData[0] = (byte)slvAddr;
sendData[1] = CMD_WriteCoil;
byte[] addrByte = SerialBean.StringToByte(addr.ToString());
if (addrByte.Length == 1)
{
sendData[2] = 0x00;
sendData[3] = addrByte[0];
}
else if (addrByte.Length == 2)
{
sendData[3] = addrByte[1];
sendData[2] = addrByte[0];
}
byte[] dataByte = SerialBean.StringToByte(dataValue);
if (dataByte.Length == 1)
{
sendData[4] = 0x00;
sendData[5] = dataByte[0];
}
else if (dataByte.Length == 2)
{
sendData[5] = dataByte[1];
sendData[4] = dataByte[0];
}
sendData = buildCheckData(sendData, sendData.Length - 2);
return sendData;
}
private static byte[] Get01WriteData(int slvAddr, string addr, int length)
{
byte[] sendData = new byte[8];
sendData[0] = (byte)slvAddr;
sendData[1] = CMD_ReadCoil;
byte[] addrByte = SerialBean.StringToByte(addr.ToString());
if (addrByte.Length == 1)
{
sendData[2] = 0x00;
sendData[3] = addrByte[0];
}
else if (addrByte.Length == 2)
{
sendData[3] = addrByte[1];
sendData[2] = addrByte[0];
}
byte[] dataByte = SerialBean.StringToByte(length.ToString());
if (dataByte.Length == 1)
{
sendData[4] = 0x00;
sendData[5] = dataByte[0];
}
else if (dataByte.Length == 2)
{
sendData[4] = dataByte[1];
sendData[5] = dataByte[0];
}
sendData = buildCheckData(sendData, sendData.Length - 2);
return sendData;
}
private static byte[] Get03WriteData(int slvAddr, string addr, int length)
{
// （ 2） 读取寄存器（ 03h）
//发送
//从站地址
//03h
//寄存器起始地址 高位
//低位
//寄存器数(N) 高位
//低位
//CRC 低位
//高位
byte[] sendData = new byte[8 ];
sendData[0] = (byte)slvAddr;
sendData[1] = CMD_ReadRegisters;
byte[] addrByte = SerialBean.StringToByte(addr.ToString());
if (addrByte.Length == 1)
{
sendData[2] = 0x00;
sendData[3] = addrByte[0];
}
else if (addrByte.Length == 2)
{
sendData[3] = addrByte[1];
sendData[2] = addrByte[0];
}
byte[] dataByte = SerialBean.StringToByte(length.ToString());
if (dataByte.Length == 1)
{
sendData[4] = 0x00;
sendData[5] = dataByte[0];
}
else if (dataByte.Length == 2)
{
sendData[4] = dataByte[1];
sendData[5] = dataByte[0];
}
sendData = buildCheckData(sendData, sendData.Length-2);
return sendData;
}
private static byte[] Get06WriteData(int slvAddr, string addr, string dataValue)
{
// （ 4） 写入寄存器（ 06h）
//从站地址
//06h
//地址 高位
//低位
//変更数据 高位
//低位
//CRC 低位
//高位
byte[] sendData = new byte[8];
sendData[0] = (byte)slvAddr;
sendData[1] = CMD_WriteRegisters;
byte[] addrByte = SerialBean.StringToByte(addr.ToString());
if (addrByte.Length == 1)
{
sendData[2] = 0x00;
sendData[3] = addrByte[0];
}
else if (addrByte.Length == 2)
{
sendData[3] = addrByte[1];
sendData[2] = addrByte[0];
}
byte[] dataByte = SerialBean.StringToByte(dataValue);
if (dataByte.Length == 1)
{
sendData[4] = 0x00;
sendData[5] = dataByte[0];
}
else if (dataByte.Length == 2)
{
sendData[4] = dataByte[1];
sendData[5] = dataByte[0];
}
sendData = buildCheckData(sendData, sendData.Length - 2);
return sendData;
}
}
}